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Sub: use common RC checking code from AP_Arming

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Peter Barker 2017-08-11 11:26:57 +10:00 committed by Randy Mackay
parent 0a2177de58
commit a87328816a
1 changed files with 8 additions and 34 deletions
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42
ArduSub/AP_Arming_Sub.cpp
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@ -6,41 +6,15 @@ enum HomeState AP_Arming_Sub::home_status() const
return sub.ap.home_state;
}
bool AP_Arming_Sub::rc_check(bool report)
bool AP_Arming_Sub::rc_check(bool display_failure)
{
// set rc-checks to success if RC checks are disabled
if ((checks_to_perform != ARMING_CHECK_ALL) && !(checks_to_perform & ARMING_CHECK_RC)) {
return true;
}
static const char* message_fail = "PreArm: Check RC min/max parameters";
bool ret = true;
// check channels 1 & 2 have min <= 1300 and max >= 1700
if (sub.channel_roll->get_radio_min() > 1300 || sub.channel_roll->get_radio_max() < 1700 || sub.channel_pitch->get_radio_min() > 1300 || sub.channel_pitch->get_radio_max() < 1700) {
ret = false;
}
// check channels 3 & 4 have min <= 1300 and max >= 1700
if (sub.channel_throttle->get_radio_min() > 1300 || sub.channel_throttle->get_radio_max() < 1700 || sub.channel_yaw->get_radio_min() > 1300 || sub.channel_yaw->get_radio_max() < 1700) {
ret = false;
}
// check channels 1 & 2 have trim >= 1300 and <= 1700
if (sub.channel_roll->get_radio_trim() < 1300 || sub.channel_roll->get_radio_trim() > 1700 || sub.channel_pitch->get_radio_trim() < 1300 || sub.channel_pitch->get_radio_trim() > 1700) {
ret = false;
}
// check channel 4 has trim >= 1300 and <= 1700
if (sub.channel_yaw->get_radio_trim() < 1300 || sub.channel_yaw->get_radio_trim() > 1700) {
ret = false;
}
if (report && !ret) {
gcs().send_text(MAV_SEVERITY_CRITICAL, message_fail);
}
return ret;
const RC_Channel *channels[] = {
sub.channel_roll,
sub.channel_pitch,
sub.channel_throttle,
sub.channel_yaw
};
return rc_checks_copter_sub(display_failure, channels);
}
bool AP_Arming_Sub::pre_arm_checks(bool report)